Clone and Build the Project

1. Clone the Repository

First, navigate to your ROS2 workspace directory and clone the Agilebot Robotics ROS2 repository: https://github.com/sh-agilebot/Agilebot_Robot_Ros2

cd {your_ros2_workspace_directory}/src
git clone https://github.com/sh-agilebot/Agilebot_Robot_Ros2.git

2. Install Python Dependencies

Navigate to the project root directory (the root directory of the cloned repository) and install the required Python dependencies:

cd {your_ros2_workspace_directory}/src/Agilebot_Robot_Ros2
pip install -r requirements.txt
pip install ./Agilebot.Robot.SDK.A-*.whl

Note: Agilebot.Robot.SDK.A-*.whl is the Python SDK package for Agilebot robots, providing libraries required for communication with physical robots. Run the installation command in the repository root (the directory containing the .whl file). If multiple SDK versions exist, it is recommended to use the latest one.

Build the Project

Return to the ROS2 workspace root directory and build the project:

cd {your_ros2_workspace_directory}
colcon build
source install/setup.bash

Note: colcon build will automatically build all packages in the workspace, including core packages (gbt_description, gbt_driver, gbt_gazebo, etc.) and MoveIt2 configuration packages (c5a_moveit_config, c7a_moveit_config, c12a_moveit_config, c16a_moveit_config).

Optional: Selective Build

If you only want to build specific packages, you can use the --packages-select parameter:

# Build only description and driver packages
colcon build --packages-select gbt_description gbt_driver

# Build MoveIt2 configuration for a specific model
colcon build --packages-select c5a_moveit_config

You have now successfully installed and configured the Agilebot Robotics ROS2 project!

Quick Installation Verification

To ensure everything works properly, you can try launching a simple RViz display or Gazebo simulation. For details, please refer to the Quick Start page.

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If you encounter any issues or errors, please check our FAQ page, or submit an issue via GitHub Issues.